Methods and apparatus for inserting a threaded fastener using a linear rotary actuator

ABSTRACT

A system and method for precisely inserting threaded fasteners using a linear rotary actuator. The method includes aligning the threaded fastener with the threaded hole, soft landing the threaded fastener in contact with the threaded hole, aligning the ends of the threads, soft landing the threaded fastener in contact with the threaded hole, and snugging the threaded fastener. Additional threaded fasteners may be inserted and snugged before a final torque specification is applied to each of the fasteners. The system includes a linear rotary actuator and a tool for driving and coupling to the threaded fastener.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of priority under 35 U.S.C. § 119(e) of U.S. Provisional Application No. 62/320,395, entitled METHODS AND APPARATUS FOR INSERTING A THREADED FASTENER USING A LINEAR ROTARY ACTUATOR, filed Apr. 8, 2016, the content of which is hereby incorporated by reference in its entirety for all purposes.

FIELD

The present disclosure pertains generally to machines which are useful for automated assembling and manufacturing of an end product. More particularly, the present disclosure pertains to methods and apparatus for repeatedly inserting threaded fasteners during automated assembly and manufacture of an end product. The present disclosure is particularly, but not exclusively, useful for the manufacture of end products that require repeatedly inserting and securing multiple threaded fasteners during assembly.

BACKGROUND

Quality and process throughput are important in the manufacture of end products using an automated assembly process. Often, sensitive products are manufactured in high volumes with precise dimensions and have critical tolerances requirements. Automated machines utilize actuators to build, inspect, and measure. For example, pick-and-place machines operate at high-speeds to assemble components using actuators in multiple axes to pick-up fasteners and precisely place them on the holes.

Linear actuators are mechanical devices which are used to perform repetitive actions requiring linear motion. For example, linear actuators can be used in an assembly plant for placing items in trays, for automatically stamping or labeling mail, for glass cutting, for placing chips on circuits, for testing various buttons or touch areas on electronic devices, for automation, and for a wide variety of other purposes as well. Other examples include using actuators to attach a circuit board to a chassis using a plurality of screws. The actuator picks up each screw and inserts it into a threaded hole to secure the circuit board.

Rotary actuators are mechanical devices which are used to perform repetitive actions requiring rotational or rotary motion. For example, rotary actuators can be used in an assembly plant for placing items in trays, for actuating valves, for glass cutting, for placing chips on circuits, for testing various buttons or touch areas on electronic devices, for remote actuation, and for a wide variety of other purposes as well.

Linear rotary actuators are mechanical devices which are incorporate both linear and rotary motion within a single actuator.

Threaded fasteners are frequently used for assembling various products. For example, threaded fasteners like screws and bolts are used to removably secure circuit boards within enclosures and attach components to computer chassis. Often, multiple threaded fasteners are used to secure larger parts or to better distribute forces over a larger area.

When considering the operation of a machine that is to be used for the purposes of either assembling separate individual component parts into an end product, or moving a tool into contact with a work surface of the end product, the consequences of the manufacturing process on the end product, as well as process throughput, need to be addressed. In some instances, increased process throughput can be achieved by increasing the speed of the actuator; however, this can result in reduced quality and increased failures due to the threaded fastener contacting the hole with greater speed and force. For example, a machine can be used for the manufacture of an end product that first picks up a threaded fastener and second places it, for example, into contact with a threaded hole. Because the machine operates to move a first body (the tool with the threaded fastener) into contact with a second body (the threaded hole), forces are generated against both bodies by this action. This can result in not only the threads of the fastener and the hole being damaged, but also many end products that incorporate very delicate and fragile components can be easily damaged as well. Consequently, in order to avoid damage to the end product, it is often desirable to minimize forces generated against specified component parts of the end product during its assembly or manufacture. However, conventional operations for avoiding thread and product damage are often slow and result in decreased process throughput.

SUMMARY

Methods and apparatus for repeatedly inserting threaded fasteners during automated assembly or manufacture of an end product in a precise and controlled manner that minimizes impact forces and damage yet maintains a high degree of quality and throughput is disclosed herein.

A system and method for precisely inserting threaded fasteners using a linear rotary actuator is provided. In one aspect the method includes inserting a threaded fastener into a threaded hole. An actuator including a tool for engaging the threaded fastener is provided. The threaded fastener is coupled to the tool. The axes of the threaded fastener and the threaded hole are aligned. The actuator linearly actuates to move the threaded fastener along the threaded hole axis and into an approach position. In one implementation the actuator linearly actuates to move the threaded fastener from the approach position into contact with the threaded hole using a soft land procedure. The actuator rotatively actuates in a counter-clockwise direction to align a threaded-fastener thread end with a threaded-hole thread end. The actuator rotatively actuates in a clockwise direction to drive the first threaded fastener into the first threaded hole.

The method may further include applying a reduced torque on the threaded fastener to snug the threaded fastener in the threaded hole. The method may also further include inserting a final torque on the threaded fastener to achieve a final torque specification for the threaded fastener in the threaded hole. The method optionally includes rotatively actuating the actuator in a counter-clockwise direction to loosen the threaded fastener prior to applying a final torque by rotatively actuating the actuator in a clockwise direction.

A second threaded fastener may also be coupled to the tool after a first threaded fastener has been at least partially inserted into a first threaded hole. The second threaded fastener is inserted into a second threaded hole. A reduced torque may be applied to the second threaded fastener to snug the second threaded fastener in the second threaded hole. A final torque may be applied to the first threaded fastener to achieve a final torque specification for the first threaded fastener in the first threaded hole.

In another aspect the disclosure is directed to a method for inserting a threaded fastener into a threaded hole using an actuator configured with a tool. The method includes coupling the threaded fastener to the tool, the threaded fastener having a clockwise thread about a threaded fastener axis. The method further includes aligning the fastener axis of the threaded fastener with a threaded hole axis of the threaded hole. The actuator is linearly rotatively actuated to move the threaded fastener along the threaded hole axis into contact with the threaded hole. The actuator is further actuated in a counter-clockwise direction to align a thread end of the threaded fastener with a thread end of the threaded hole. The method further includes actuating the actuator in a clockwise direction to drive the threaded fastener into the threaded hole.

The following U.S. published applications are hereby incorporated herein by reference for all purposes:

Application Ser. No. 13/927,075 Application Date Jun. 25, 2013 Publication No. US-2014-0159407-A1 Publication Date Jun. 12, 2014 Title ROBOTIC FINGER

Application Ser. No. 13/927,076 Application Date Jun. 25, 2013 Publication No. US-2014-0159408-A1 Publication Date Jun. 12, 2014 Title ROBOTIC FINGER

Application No. PCT/US2013/047727 Application Date Jun. 25, 2013 Publication No. WO 2014/004588 Publication Date Jan. 3, 2014 Title ROBOTIC FINGER

Application Ser. No. 13/927,079 Application Date Jun. 25, 2013 Publication No. US-2014-0159514-A1 Publication Date Jun. 12, 2014 Title LOW-COST, REDUCED DIAMETER LINEAR ACTUATOR

Application Ser. No. 13/927,078 Application Date Jun. 25, 2013 Publication No. US-2014-0159513-A1 Publication Date Jun. 12, 2014 Title LOW-COST, REDUCED DIAMETER LINEAR ACTUATOR

Application No. PCT/US2013/047728 Application Date Jun. 25, 2013 Publication No. WO 2014/004589 Publication Date Jan. 3, 2014 Title LOW-COST, REDUCED DIAMETER LINEAR ACTUATOR

Application Ser. No. 12/184,918 Application Date Aug. 1, 2008 Publication No. US 2009-0058581 A1 Publication Date Mar. 5, 2009 Title COMPACT LINEAR ACTUATOR AND METHOD OF MAKING SAME

Application No. PCT/US2008/071988 Application Date Aug. 1, 2008 Publication No. WO 2009/018540 Publication Date Feb. 5, 2009 Title COMPACT LINEAR ACTUATOR AND METHOD OF MAKING SAME

Application Ser. No. 12/020,466 Application Date Jan. 25, 2008 Publication No. US 2008-0258654 A1 Publication Date Oct. 23, 2008 Title COMBINATION PNEUMATIC AND ELECTRIC LINEAR ACTUATOR

Application No. PCT/US2008/052121 Application Date Jan. 25, 2008 Publication No. WO 2008/092124 Publication Date Jul. 31, 2008 Title COMBINATION PNEUMATIC AND ELECTRIC LINEAR ACTUATOR

Application Ser. No. 12/188,111 Application Date Aug. 7, 2008 Publication No. US 2009-0040247 A1 Publication Date Feb. 12, 2009 Title MICRO SHIM FOR MOVING COIL ACTUATOR

Application Ser. No. 12/622,372 Application Date Nov. 19, 2009 Publication No. US 2010-0133924 A1 Publication Date Jun. 3, 2010 Title COMPACT LINEAR ACTUATOR AND METHOD OF MAKING SAME

Application Ser. No. 12/860,809 Application Date Aug. 20, 2010 Publication No. US 2012-0043832 A1 Publication Date Feb. 23, 2012 Title COMPACT LINEAR ACTUATOR WITH ROTARY MECHANISM

Application Ser. No. 13/244,156 Application Date Sep. 23, 2011 Publication No. US 2012-0080960 A1 Publication Date Apr. 5, 2012 Title LOW COST MULTI-COIL LINEAR ACTUATOR

Application No. PCT/US2011/053070 Application Date Sep. 23, 2011 Publication No. WO 2012/040620 Publication Date Mar. 29, 2012 Title LOW COST MULTI-COIL LINEAR ACTUATOR

Application Ser. No. 14/523,418 Application Date Oct. 24, 2014 Publication No US-2015-0171723-A1 Publication Date Jun. 18, 2015 Title APPARATUS AND METHODS FOR LOW COST LINEAR ACTUATOR

Application Ser. No. 14/611,113 Application Date Jan. 30, 2015 Publication No US-2015-0303785-A1 Publication Date Oct. 22, 2015 Title DIRECT DRIVE MOTOR FOR ROBOTIC FINGER

Application No. PCT/US2015/014133 Application Date Feb. 2, 2015 Publication No WO 2015/117095 Publication Date Aug. 6, 2015 Title DIRECT DRIVE MOTOR FOR ROBOTIC FINGER

Application Ser. No. 14/678,717 Application Date Apr. 3, 2015 Publication No US-2016/0013712-A1 Publication Date Jan. 14, 2016 Title METHODS AND APPARATUS FOR COMPACT SERIES LINEAR ACTUATORS

Application No. PCT/US2015/024341 Application Date Apr. 3, 2015 Publication No WO 2015/154026 Publication Date Oct. 8, 2015 Title METHODS AND APPARATUS FOR COMPACT SERIES LINEAR ACTUATORS

It should be appreciated that all combinations of the foregoing concepts and additional concepts discussed in greater detail below (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein. In particular, all combinations of claimed subject matter appearing at the end of this disclosure are contemplated as being part of the inventive subject matter disclosed herein. It should also be appreciated that terminology explicitly employed herein that also may appear in any disclosure incorporated by reference should be accorded a meaning most consistent with the particular concepts disclosed herein.

BRIEF DESCRIPTION OF THE DRAWINGS

The skilled artisan will understand that the drawings primarily are for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily to scale; in some instances, various aspects of the inventive subject matter disclosed herein may be shown exaggerated or enlarged in the drawings to facilitate an understanding of different features. In the drawings, like reference characters generally refer to like features (e.g., functionally similar and/or structurally similar elements).

FIG. 1 shows an exemplary linear rotary actuator with a tool and threaded fastener above a threaded hole according to an embodiment of the present invention.

FIG. 2 shows an exemplary linear rotary actuator and a threaded fastener contacting a threaded hole according to an embodiment of the present invention.

FIG. 3 shows an exemplary linear rotary actuator and a threaded fastener driving into a threaded hole according to an embodiment of the present invention.

FIG. 4 shows a graph of the angle of rotation of threaded fastener in contact with the top of a threaded hole.

FIG. 5 shows an exemplary linear rotary actuator and a threaded fastener inserted into a threaded hole according to an embodiment of the present invention.

FIG. 6 is a flowchart describing exemplary operation of the linear rotary actuator apparatus for inserting a threaded fastener according to an embodiment of the present invention.

FIG. 7 and FIG. 8 are exploded views of the exemplary linear actuator having a rotary motor.

FIGS. 9A, 9B, 9C, and 9D are various cut-away views of an exemplary linear actuator having a rotary motor according to one embodiment.

Corresponding reference characters indicate corresponding components throughout the several views of the drawings. Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments of the present invention. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments of the present invention.

DETAILED DESCRIPTION

Following below are more detailed descriptions of various concepts related to, and embodiments of, inventive systems, methods, and apparatus for inserting a threaded fastener with a linear rotary actuator. It should be appreciated that various concepts introduced above and discussed in greater detail below may be implemented in any of numerous ways, as the disclosed concepts are not limited to any particular manner of implementation. Examples of specific implementations and applications are provided primarily for illustrative purposes.

FIG. 1 shows a portion of an exemplary linear rotary actuator 110 according to an embodiment of the present invention. The linear rotary actuator 110 can be any actuator based device, such as a pneumatic, hydraulic or electrical actuator. In preferred embodiments, the linear rotary actuator 110 is an electrical actuator, such as a moving coil actuator (also known as a voice coil actuator) or a moving magnet actuator. In one embodiment, the linear rotary actuator includes position sensors to measure an absolute or a relative position along X, Y, and Z axes, and along A, B, and C rotational axes. In one embodiment, the linear rotary actuator includes force/torque sensors to measure a force applied along X, Y, and Z axes, and to measure a torque applied along A, B, and C rotational axes. The position and force/torque sensors provide real time data to a controller that interfaces with the linear rotary actuator. The distance traveled, the total number of turns, and the applied force can be measured using the sensors and can be recorded by the controller.

Referring FIG. 1, the system 100 includes a linear rotary actuator 110 and a tool 120. It is understood that although one linear rotary actuator 110 is shown, the system 100 can be configured to include more than one linear rotary actuator and more than one tool. The tool 120 engages and is temporarily coupled to a threaded fastener 130. In one embodiment, the tool is magnetized to magnetically couple with a ferrous threaded fastener. The tool can be permanently magnetized or can include an electromagnet to attract the ferrous threaded fastener. In one embodiment, the tool includes a vacuum chuck which develops a suction to couple with a threaded fastener. In one embodiment, the tool mechanically interferes with the threaded fastener to temporarily couple the tool to the threaded fastener. In one embodiment, the tool includes a clamp that grabs the threaded fastener.

The tool 120 engages with the threaded fastener 130 to drive the threaded fastener 130 into a threaded hole 140. The tool 120 also engages with the threaded fastener 130 to remove the threaded fastener 130 from a threaded hole 140. In one embodiment, the tool includes a Phillips-head or crosshead bit that engages with a Phillips-head or crosshead threaded fastener, such as a screw or bolt. In some embodiments, the tool acts as a includes a flat-blade, torx, hex, star, square, pozi, clutch, torq, spanner, pentalobe, tri-wing, tamper resistant, or security bit that engages with a matching threaded fastener. In some embodiments, the tool includes a socket of square, hex, 12 point, or other design that engages with a matching threaded fastener.

In one embodiment, the linear rotary actuator 110 moves along the X-Y axes to align an axis of the threaded fastener 130 with the axis of the threaded hole 140. In one embodiment, the linear rotary actuator 110 moves in X-Y directions, as well as rotates about each of the X and Y axes as shown by arrows A and B to align an axis of the threaded fastener 130 with the axis of the threaded hole 140. In one embodiment, the linear rotary actuator 110 is in a fixed X-Y position and the threaded hole 140 is moved in X-Y directions to align an axis of the threaded fastener 130 with the axis of the threaded hole 140. In one embodiment, the linear rotary actuator 110 is in a fixed X-Y position and the threaded hole 140 is moved in a in X-Y directions, as well as rotates about each of the X and Y axes as shown by arrows A and B to align an axis of the threaded fastener 130 with the axis of the threaded hole 140. In one embodiment, the linear rotary actuator 110 is in a fixed X-Y position and the threaded hole 140 is moved on a conveyor to a position underneath the threaded fastener 130.

FIG. 2 shows a portion of a linear rotary actuator 110 that has moved in a linear Z direction to contact the threaded fastener 130 with the top of the threaded hole 140. The linear rotary actuator 110 can include one or more encoders (not shown) that are capable of taking positional/rotational measurements about and along one or more axes. That is, in response to control signals from the controller (not shown), the linear rotary actuator 110 sends measurements from its encoders to a controller to indicate the precise positional location of the threaded fastener 130 about and along the relevant axes. In this way the threaded fastener 130 may be moved to an approach position relatively close to, but safely away from, a threaded hole 140 of interest as part of a “soft land” operation. From the approach position, the linear rotary actuator 110 may continue the soft land operation whereby the threaded fastener 130 is brought into contact with the threaded hole 140 so as not to damage the linear rotary actuator 110, tool 120, threaded fastener 130, and/or threaded hole 140, and also so as to establish an accurate contact location. The soft land operation also prevents the threaded fastener 130 from decoupling or being dislodged from the tool 120. Additional information about the soft land operation is set forth in U.S. Pat. No. 5,952,589 entitled “Soft Landing Method for Tool Assembly” (the “'589 patent”) and U.S. Publication No. 2005/0234565 entitled “Programmable Control System for Automated Actuator Operation”, respectively, both of which are hereby incorporated by reference in their entireties for all purposes.

As is discussed in the '589 patent, the soft land procedure typically involves placing the threaded fastener at an approach position. This approach position can be arbitrarily established in accordance with the desires of the operator, but preferably, the approach position places the threaded fastener about one millimeter or less away from the threaded hole. The approach position will generally be dependent on the characteristics of the component; namely, the approach position can be made to be closer to components with tight tolerances and flat surfaces without substantially increasing the risk of forceful, inadvertent contact. In any event, the threaded fastener is placed at the approach position for subsequent movement along a path from the approach position into soft contact with a predetermined threaded hole of the component. In other embodiments alternate schemes may be employed for moving the threaded fastener from the approach position into contact with the target threaded hole.

Momentarily, the threaded fastener may be held stationary at the approach position. Then, the forces which are acting to hold the threaded fastener stationary are changed in magnitude until the inherent static friction forces that have been acting on the stationary threaded fastener are overcome. When the static friction forces have been overcome, the system becomes dynamic and the threaded fastener advances toward the threaded hole under the influence of the resultant force.

As the threaded fastener is advanced toward the threaded hole, it is moved rapidly in a position mode of the soft land operation until reaching the approach position. From the approach position, the threaded fastener proceeds in a soft land mode until contact is made with the threaded hole. Specifically, several control modes of operation for determining soft contact are possible. In particular, each of these control modes depends on a measurable parameter that is characteristic of the movement of the linear rotary actuator. These measurable parameters include i) the threaded fastener travel position on the path toward the threaded hole (i.e. a position control mode), ii) its velocity (i.e. a velocity control mode), and iii) the acceleration/deceleration of the threaded fastener (i.e. torque control mode). In an alternate embodiment, none of the above mentioned measurable parameters are monitored and, instead, the threaded fastener is allowed to merely advance into soft contact with the threaded hole under the influence of the resultant force (i.e. a basic mode). The position control mode of operation, velocity control mode of operation and the torque control mode of operation are described in further detail in the '589 patent.

As shown in FIG. 2, component 150 may comprise a plurality of threaded holes 140 a-c. In one embodiment, the component includes a chassis for mounting subcomponents, like circuit boards and electrical subcomponents. In one embodiment, the component includes pieces of a housing that are attachable together using threaded fasteners.

After the threaded fastener 130 soft lands in contact with threaded hole 140, an end of the threaded fastener's thread can be aligned with an end of the threaded hole's thread. While applying a light downward pressure along the Z axis, the linear rotary actuator 110 begins the rotate in a direction BB as shown in FIG. 3. Direction BB is the reverse direction of the threads. In other words, the linear rotary actuator 110 initially rotates in the direction BB that would normally be used to remove the threaded fastener 130 from the threaded hole 140. Since the contact is between threaded fastener 130 and the threaded hole 140 is a portion of each of the respective threads, the contact is effectively between two inclined planes. Because the threaded fastener 130 initially rotates in the opposite direction of the threads, the threaded fastener does not engage with the threads of the threaded hole 140. This means that as the threaded fastener rotates in direction BB, the Z axis position of the threaded fastener changes. FIG. 4 is a graph of the angle of rotation in a direction BB of threaded fastener 130 in contact with the top of threaded hole 140. Point A as shown in FIG. 4 is the beginning point of the threads of threaded fastener 130 and the threaded hole 140. At point A, the threads of the threaded fastener 130 are ready to engage the threads of the threaded hole 140.

Point A is determined by measuring the vertical displacement of the threaded fastener 130 as the threaded fastener is rotated in the direction BB while in contact with threaded hole 140. As shown in FIG. 4, the vertical displacement can be measured in encoder counts (1 count=5 microns along a Z axis). After making one complete rotation of 360 degrees, the lowest point, point A, can be determined. The threaded fastener 130 can continue to be rotated in direction BB to the next occurrence of point A, at which point the rotation is stopped and the threaded fastener is ready to be driven the opposite direction and into the threaded hole. The location of point A is after the highest displacement of the threaded fastener as it is rotated in direction BB, as shown in FIG. 4. Point A can be detected by a drop or a movement along the Z axis of the threaded fastener towards the threaded hole. Depending on the taper, thread size, pitch, lead, thread type, and angle, the drop or the movement along the Z axis of the threaded fastener towards the threaded hole may be about 250 microns, about 225 microns, about 200 microns, about 175 microns, about 150 microns, about 125 microns, about 100 microns, and about 50 microns to 500 microns, including all ranges and subranges therebetween.

Though depicted and described in terms of standard right-hand fasteners, the directions AA and BB apply equally to left-hand fasteners, except each direction would be reversed for left-handed fasteners. The concepts described herein also apply to other thread types including, but not limited to luer, straight, tapered, and double-start thread types.

An advantage of reversing the threaded fastener 130 while contacting the threaded hole 140 is the avoidance of cross threading and misdrives. Cross threading occurs when a threaded fastener is misaligned with a threaded hole, yet the fastener is driven, despite being out of alignment, into the threaded hole resulting in damage to the threads of the threaded fastener and to the threaded hole. Cross threading also weakens the strength of the connection and reduces the holding power of the threaded fastener. Once threads are damaged from cross threading, the threaded fastener or threaded hole generally cannot be reused, and it may be difficult to remove the threaded fastener from the threaded hole. Misdrives occur when the threaded fastener becomes dislodged or decoupled from the tool and becomes misaligned with the threaded hole. The threaded fastener must then be recoupled to the tool or a replacement threaded fastener must be obtained. Sometimes the threaded fastener becomes lost in the assembly line or lost inside the component due to the misdrive, and can result in a work stoppage and lost throughput while the threaded fastener is retrieved.

Once the threaded fastener 130 is positioned within the threaded hole 140, and rotated to point A—the ends or starting points of each of the threads, the threaded fastener is ready to be rotated in direction AA by tool 120. FIG. 3 shows linear rotary actuator 110 that is being rotated in direction AA to insert or to drive the threaded fastener 130 into the threaded hole 140. As the linear rotary actuator rotates in direction AA, a downward force is applied along the Z axis to insure positive engagement between the tool 120 and the threaded fastener 130.

As shown in FIG. 5, the threaded fastener 130 has been fully inserted in the threaded hole in component 150. In one embodiment, the threaded fastener is driven from a starting position to an intermediate position at a first torque, and then driven from an intermediate position to a final position at a second torque. In this embodiment, the first torque is applied until the threaded fastener stops at an intermediate position corresponding to a “snug” tightness or a “snug” applied torque. In this manner the threaded fastener has stopped rotation and any play or loose fit between the threaded fastener and threaded hole is substantially eliminated, but the threaded fastener has not been firmly rotated to a final torque specification. A second torque may be applied to the snug threaded fastener to rotate from the snugged intermediate position to the final position at a final torque specification.

In one embodiment, a first threaded threaded fastener is inserted in a first threaded hole and driven to a snug tightness. In this embodiment, a second threaded fastener is then inserted in a second threaded hole and driven to a final torque specification. The linear rotary actuator and tool then return to the first threaded fastener to rotate the first threaded fastener to the final torque specification. This process can be applied to any number of threaded holes in a component. Each threaded fastener is snugged in its respective threaded hole until the final threaded fastener is inserted, at which point the final torque specification can then be applied to each of the threaded fasteners. Alternatively, a portion of the threaded fasteners can be inserted and snugged so that the component does not move or shift. Once the component is secure, each additional fastener can be inserted and rotated to their final torque specification.

In one embodiment, a final torque is applied to a threaded fastener by rotating the threaded fastener in a forward direction until it reaches its final torque specification. In one embodiment, a final torque is applied to a threaded fastener by initially rotating the threaded fastener in a reverse direction to loosen the fastener. After the threaded fastener is loosened, the threaded fastener is then driven in the forward direction until reaching its final torque specification. An advantage of loosening a snug threaded fastener, and then immediately retightening the threaded fastener to its final torque specification is that the effects of stiction are minimized. In this manner, the final torque specification is accurately achieved. In one embodiment, the final torque is verified by reversing the threaded fastener and then re-torqueing the threaded fastener. Another advantage is that two or more of the initial tightening torque, the reverse loosening torque, and the re-tightening torque can be compared with each other to verify the accuracy of the operation and the quality of the connection.

FIG. 6 shows a block diagram an exemplary method 500 for inserting a threaded fastener, according to an embodiment of the present invention. A linear rotary actuator with an attached tool couples to a threaded fastener in step 502. In step 504, the linear rotary actuator aligns the axis of the threaded fastener with the axis of the threaded hole. The threaded fastener and the threaded hole share a common axis after the alignment is complete. The linear rotary actuator rapidly advances the threaded fastener towards the threaded hole until a predetermined distance away, at which point the linear rotary actuator begins a soft land procedure 506 until the threaded fastener contacts the threaded hole. The soft land procedure includes using a position control mode, a torque control mode, a velocity control mode, or a basic mode. In step 508, the threaded fastener is rotated in a reverse direction to align an end of the threaded fastener thread with an end of the threaded hole thread. Once the threads are aligned, thereby avoiding cross threading and misdrives, the threaded fastener is ready to be driven into the threaded hole. In step 510, the threaded fastener is rotated in a forward direction to insert the threaded fastener into the threaded hole. In step 512, the thread fastener is driven into the threaded hole until snug, which is a reduced torque that retains the component and threaded fastener in place. After optionally snugging additional threaded fasteners on the component in step 513, the linear rotary actuator is ready to apply a final torque to the fastener in step 514.

In some embodiments, the linear rotary actuator is an electrical, moving coil linear actuator configured to actuate at variable speed and includes an encoder to provide positioning feedback related to the position of the tool. In some embodiments, the linear rotary actuator is electrically coupled to controller to receive power from and to provide an output signal to that representative of position, speed, and torque. The controller processes the signal representative of position, speed, and torque and provides a control signal to linear rotary actuator to precisely adjust the position of the tool in a X, Y, Z, A, B, and C directions above the component. The controller may provide a control signal to the linear rotary actuator to position the threaded fastener coupled to the tool in an approach position. From the approach position, the linear rotary actuator can actuate to move the threaded fastener in a soft land mode until the threaded fastener is in contact with the threaded hole.

In some instances, the linear rotary actuator moves along X, Y, Z, A, B, and C axes and rotational axes. The linear rotary actuator can be positioned in a high velocity position mode until the approach position, and thereafter, the linear rotary actuator can be positioning in a soft land mode until the threaded fastener contacts with the threaded hole.

Advantages of the present invention include greater processes throughput and improved product quality by reducing cross threading and misdrives. Other advantages include reduce component damage including latent damage which results in premature component failures.

A controller (not shown) can control the movements of the linear rotary actuator. For example, the controller can be a servo controller that can operate a moving coil actuator. In some configurations, the controller can be, for example, a Galil DMC31012 controller with built-in amplifier and a 16 bit analog output.

In accordance with programmed instructions, typically in the form of software, the controller can generate control signals and output such control signals to cause movement of the tool about one or more axes. In one embodiment the controller is programmed to control the linear rotary actuator depending on the application, i.e., depending on the threaded fastener to be inserted. For example, the controller includes software that is specifically configured to cause the desired actuator movement and measurement for the specific component to be inspected. Typically, a computer (not shown) is coupled to the controller to generate and transmit software (code representing a set of instructions to be executed) generated in a programming language to the controller for the specific application. Such software, once running on the controller, will instruct tool movements for that specific application.

Examples of computer code include, but are not limited to, micro-code or micro-instructions, machine instructions, such as produced by a compiler, code used to produce a web service, and files containing higher-level instructions that are executed by a computer using an interpreter. For example, embodiments may be implemented using imperative programming languages (e.g., C, Fortran, etc.), functional programming languages (Haskell, Erlang, etc.), logical programming languages (e.g., Prolog), object-oriented programming languages (e.g., Java, C++, etc.) or other suitable programming languages and/or development tools. Additional examples of computer code include, but are not limited to, control signals, encrypted code, and compressed code.

As noted above, the linear rotary actuator 110 can be any actuator based device, such as a pneumatic, hydraulic or electrical actuator. FIGS. 7-9 illustratively represent an exemplary linear rotary actuator 700 capable of being utilized as the rotary actuator 710.

Attention is now directed to FIG. 7 and FIG. 8, which are exploded views of the exemplary linear actuator 700 having a rotary motor. As shown by these figures, the linear actuator 700 includes a rotary motor housing 702, a spline shaft 704, a rotary encoder 706, a coil 708, a main housing 710, a magnet housing 712, a linear encoder 714, an encoder housing 716, a rotary bearing 178, a rotational lock 720, a rotary scale 722, a linear scale 724, a stator 726, a bobbin 728, a rotor 730, a spline bearing 732, and a piston assembly 734.

In some embodiments, all or a portion of the manufactured parts can be machined on a CNC lathe such as the Hardinge model RS51MSY or other lathe that has the ability to machine both ends of a component (e.g., via sub-spindle transfer) as well as the ability to do mill work. According to some embodiments, each part can be made in a single operation on the lathe, thereby reducing and/or eliminating the need for secondary operations. These secondary operations present additional costs and may also reduce quality by increasing dimensional variation.

In some embodiments, various components of the linear actuator 700 may be manufactured from aluminum or steel bars. Note, however, that a myriad of other materials may be used according to embodiments of the present invention.

As best shown in FIG. 8, the piston assembly 734 may include at least one bobbin 728 for supporting an electrically conductive medium such as coil 708. During operation, current is introduced through the coil 708 thereby creating a magnetic field having a direction that depends upon the direction that the current is flowing through the coil 708.

In some embodiments, the piston assembly 734 and the bobbin 728 may be formed as a single, unitary piece. A single, unitary piece can make construction of the actuator 700 less complicated and quicker to assemble because there are fewer pieces. Moreover, using a single, unitary piece can be more cost effective, as a single piece can be less costly to produce than multiple separate pieces. A single, unitary piece can also weigh less than a multi-piece piston-bobbin assembly since such an assembly may require additional fasteners or hardware to attach the various components together.

The magnet housing 712 may include one or more magnets (for example, substantially cylindrical magnets or circular magnet segments) which may be easily fastened inside the magnet housing 712 during manufacturing with various adhesives or screws. Such magnets are adapted to magnetically interface with the piston assembly 734 when a magnetic field is present. Hence, by repeatedly alternating the direction that current is flowing through the coil 708, a linear force may be repeatedly imparted upon the piston assembly 708.

Note that while FIG. 7 and FIG. 8 each depict a single-coil actuator 700, in other embodiments, the piston assembly 734 may include multiple coils 708 supported by separate bobbins 728 of the same piston assembly 734, as well as a magnet housing 712 containing a series of alternately magnetized magnets (e.g., NS, SN, NS, etc.). Persons skilled in the art will recognize that the magnet housing 712 and piston assembly 734 for such a multi-pole configuration can be implemented using standard machining processes.

In some embodiments, stroke variation and encoder resolution may be easily adjusted, thereby reducing costs associated with reconfiguring and/or replacing the actuator. Where stroke is a function of three assemblies (the magnet housing 712, the piston assembly 734, and the main housing 710) a replaceable magnet housing 712 may be used to increase the length of the stroke, yet without requiring replacement of more expensive components that are serviceable in all stroke variations (e.g., the piston assembly 734 and the main housing 710). For example, the magnet housing 712 may be replaced with a more elongated magnet housing 712, thereby enabling a longer actuator stroke.

As best shown in FIG. 8, the side of the piston assembly 734 opposite the coil 708 includes an interface for securing a spline shaft 704. Such a spline shaft 704 may include, for example, a metallic shaft having one or more slits or grooves 705 (see, e.g., FIG. 9C) running along its length.

One or more spline bearings 732 (e.g., annular bearings) having protrusions corresponding to the grooves 705 of the spline shaft 704 are adapted to receive the spline shaft and thereby prevent the shaft 704 from rotating relative to the spline bearings 732. The spline bearings 732 may also serve to reduce the level of friction associated with linear movement of the shaft 704 relative to the spline bearings 732. In order to accomplish this, the spline bearings 732 may include a set of balls, globules, or other such spherical bodies for circulating around a track within each respective bearing 732 as the shaft 704 is driven through each bearing 732. In this manner, the spline bearings 732 may serve as a linear guide to the spline shaft 704 so as to prevent unwanted rotation of the shaft 704 and to further enable linear movement of the shaft 704 with a reduced amount of associated friction. In one embodiment, the spline bearing 732 may include a linear guide assembly manufactured by IKO Inc. (# MAG8CITHS2/N). Note, however, that a myriad of other structures/guide assemblies may be utilized according to the scope of the present invention.

In some embodiments, the central axis of the bobbin 728 supporting coil 708 is approximately collinear with the spline shaft 704. This design can help reduce or eliminate an unwanted moment, or a lateral force which may otherwise translate to the piston assembly 734 if the coil were positioned to one side of the piston assembly 734. Such a design can improve force repeatability which is particularly useful in precise force applications such as small electronic parts assembly and precision glass scoring.

In some embodiments, the piston assembly 734 may include a linear scale 724 for indicating linear positional feedback to a linear encoder 714. As shown in FIG. 7 and FIG. 8, the linear encoder 714 may be situated within an encoder housing 716 which is itself disposed within a cutout of the main housing 710. The encoder housing 716 can be fastened to the main housing 710 of the actuator 700 using screws, for example. The linear encoder 714 may thus remain fixed within the main housing 710 as the piston assembly 734 is repeatedly actuated.

As best shown by FIG. 9D, the linear scale 724 may include a series of stripes or markings running along the length of the scale. When the piston assembly 734 is actuated, the linear encoder 714 (e.g., an optical reader) may count the number of stripes or markings read in order to determine the current linear position of the piston assembly 734. In some embodiments, recorded positional data may then be transmitted to a remote device for monitoring purposes. In some embodiments, a user can input one or more values to a remote device (such as a connected computer) in order to designate an amount of linear movement desired for a particular task. These values can then be transmitted to a controller (not shown) in electrical communication with the linear encoder 714 so that linear movement of the piston assembly can be adjusted according to the values specified.

In order to enable the linear actuator 700 to perform tasks requiring rotation, a rotational lock 720, a rotary bearing 718, and a rotary motor including stator 726 and rotor 730 may be utilized in conjunction with the various components mentioned above for enabling linear operation. These components are best described and illustrated with reference to the following figures.

FIGS. 9A-9D are various cut-away views of an exemplary linear actuator having a rotary motor according to one embodiment. According to the design of the embodiments depicted in these figures, the rotary motor remains fixed irrespective of the linear position of the shaft 704, thereby enabling the shaft 704 to move in linear direction without being substantially encumbered by the mass of the rotary motor. A smaller force is thereby necessary to drive the linear actuator 700 at a designated acceleration. Similarly, a greater acceleration is attainable for a specified amount of force.

Referring first to FIG. 9A, the first cut-away view depicts a spline shaft 704 with one or more grooves 705 running along its length, one or more spline bearings 732 for guiding the spline shaft 704 upon being actuated in a linear direction, a rotary scale 722 for indicating rotational feedback to a rotary encoder 706, one or more rotary bearings 718 for enabling rotation of the shaft 704 relative to the piston assembly 734 (not shown), and a rotational lock 720 for preventing the piston assembly from rotating as the shaft 704 is rotated.

As discussed above with reference to FIGS. 7 and 8, the one or more spline bearings 732 are adapted to prevent the shaft 704 from rotating relative to the spline bearings 732. Thus, when the spline bearings 732 remain fixed, movement of the shaft 704 is linearly guided by the spline bearings 732 along the grooves 704 of the spline shaft 704, thereby preventing rotation.

However, even though the spline shaft 704 may not rotate relative to the spline bearings 732, the spline shaft 704 and spline bearings 732 may rotate in tandem relative to the piston assembly 734 (not shown). One or more rotary bearings 718 positioned at the proximal end of the spline shaft 704 may be used to secure the shaft 704 to the piston assembly 734, yet also enable the shaft 704 and spline bearings 732 to rotate relative to the piston assembly 734.

The piston assembly 734 may include a rotational lock 720 for preventing the piston assembly 734 from rotating during operation. The rotational lock 720 may include one or more apertures for receiving a locking pin 736, spline shaft, or other such locking mechanism while remains fixed while the shaft 704 is rotated. In some embodiments, the rotational lock 720 may be formed directly within the piston assembly 734, thereby reducing the number of parts necessary for assembly of the linear actuator 700. In some embodiments, the rotational lock 720 may include a spline bearing 732 for reducing the amount of friction between the rotational lock 720 and the locking pin 736 as the piston assembly 734 is actuated and the rotational lock 720 slides upon the spline shaft or locking pin 736.

Optionally, the linear actuator 700 may include a rotary scale 722 for indicating rotational feedback to a rotary encoder 706. As best shown in FIG. 9A and FIG. 9B, the rotary scale 722 may include a series of stripes or markings oriented radially across the surface of the rotary scale 722. When the spline bearings 732 are rotated, the rotary encoder 706 (e.g., an optical reader) may count the number of stripes or markings it has read in order to determine how far the spline shaft 704 has rotated. Rotational data recorded in this manner may then be transmitted to a remote device for monitoring purposes.

According to some embodiments, a user can input one or more parameters to a remote device (such as a connected computer) in order to designate an amount of rotational movement desired for a particular task. These values can then be transmitted to a controller (not shown) in electrical communication with the rotary encoder 706 so that rotational movement of the spline shaft 704 can be adjusted according to the values specified.

Referring next to FIG. 9B, the shaft 704 of the actuator 700 is presented with one or more rotors 730 for rotatably engaging the spline bearings 734. In some embodiments, the one or more rotors 730 include rotary bearings each containing at least one magnet (e.g., an annularly-shaped magnet). In some embodiments, the one or more rotors 730 are positioned around the spline bearings 734 such that rotation of a rotor 730 causes rotation of the spline bearings 732, which in turn causes rotation of the shaft 704 of the actuator 700.

Turning next to FIG. 9C, the shaft 704 of the actuator 700 is now depicted with stators 726 for rotatably actuating the corresponding rotors 730. Each stator 726 may include an electrically conductive medium, such as set of coils (not shown) for electric current to run through. The magnetic field generated when current running through the coils magnetically actuates the rotors 730, thereby causing rotation of the spline bearings 734 and hence the shaft 704. Thus, the shaft 704 of the actuator 700 can repeatedly rotate in clockwise and counter-clockwise directions by repeatedly switching the current flow to the coils of the stators 726.

FIG. 9D illustrates the shaft 704 of the actuator 700 as secured to the piston assembly 734 via the rotary bearings 718. As shown in this figure, the piston assembly 734 includes a linear scale 724 for indicating the linear position of the piston assembly 734 to a linear encoder 714 (shown in FIG. 7 and FIG. 8). Since the linear actuator 700 can determine both the linear position of the piston assembly 734 (e.g., via the linear scale 724 and linear encoder 714) as well as the rotational of the shaft 704 (e.g., via the rotary scale 722 and the rotary encoder 706), positional data may be used to monitor the operation of the actuator 700. In some embodiments, the linear encoder 714 and/or the rotary encoder 706 are adapted to control operation of the linear actuator 700 based upon one or more designated parameters. These parameters may include, without limitation, linear force, linear speed, linear position, linear acceleration, rotational force, rotational speed, rotational position, and rotational acceleration.

While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. Where methods described above indicate certain events occurring in certain order, the ordering of certain events may be modified. Additionally, certain of the events may be performed concurrently in a parallel process when possible, as well as performed sequentially as described above. Although various modules in the different devices are shown to be located in the processors of the device, they can also be located/stored in the memory of the device (e.g., software modules) and can be accessed and executed by the processors. Accordingly, the specification is intended to embrace all such modifications and variations of the disclosed embodiments that fall within the spirit and scope of the appended claims.

The various methods or processes outlined herein may be coded as software that is executable on one or more processors that employ any one of a variety of operating systems or platforms. Additionally, such software may be written using any of a number of suitable programming languages and/or programming or scripting tools, and also may be compiled as executable machine language code or intermediate code that is executed on a framework or virtual machine.

In this respect, various inventive concepts may be embodied as a computer readable storage medium (or multiple computer readable storage media) (e.g., a computer memory, one or more floppy discs, compact discs, optical discs, magnetic tapes, flash memories, circuit configurations in Field Programmable Gate Arrays or other semiconductor devices, or other non-transitory medium or tangible computer storage medium) encoded with one or more programs that, when executed on one or more computers or other processors, perform methods that implement the various embodiments of the invention discussed above. The computer readable medium or media can be transportable, such that the program or programs stored thereon can be loaded into one or more different computers or other processors to implement various aspects of the present invention as discussed above.

The terms “program” or “software” are used herein in a generic sense to refer to any type of computer code or set of computer-executable instructions that can be employed to program a computer or other processor to implement various aspects of embodiments as discussed above. Additionally, it should be appreciated that according to one aspect, one or more computer programs that when executed perform methods of the present invention need not reside on a single computer or processor, but may be distributed in a modular fashion amongst a number of different computers or processors to implement various aspects of the present invention.

Computer-executable instructions may be in many forms, such as program modules, executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Typically the functionality of the program modules may be combined or distributed as desired in various embodiments.

Also, data structures may be stored in computer-readable media in any suitable form. For simplicity of illustration, data structures may be shown to have fields that are related through location in the data structure. Such relationships may likewise be achieved by assigning storage for the fields with locations in a computer-readable medium that convey relationship between the fields. However, any suitable mechanism may be used to establish a relationship between information in fields of a data structure, including through the use of pointers, tags or other mechanisms that establish relationship between data elements.

Also, various inventive concepts may be embodied as one or more methods, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments.

All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and/or ordinary meanings of the defined terms.

The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one.”

The phrase “and/or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and/or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and/or” clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to “A and/or B”, when used in conjunction with open-ended language such as “comprising” can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

As used herein in the specification and in the claims, “or” should be understood to have the same meaning as “and/or” as defined above. For example, when separating items in a list, “or” or “and/or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as “only one of” or “exactly one of,” or, when used in the claims, “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e. “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of” “Consisting essentially of,” when used in the claims, shall have its ordinary meaning as used in the field of patent law.

As used herein in the specification and in the claims, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, “at least one of A and B” (or, equivalently, “at least one of A or B,” or, equivalently “at least one of A and/or B”) can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc.

In the claims, as well as in the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only the transitional phrases “consisting of” and “consisting essentially of” shall be closed or semi-closed transitional phrases, respectively, as set forth in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03. 

What is claimed is:
 1. A method for inserting a threaded fastener into a threaded hole using an actuator configured with a tool, the method comprising: coupling the threaded fastener to the tool, the threaded fastener having a clockwise thread about a threaded fastener axis; aligning the fastener axis of the threaded fastener with a threaded hole axis of the threaded hole; linearly actuating the actuator to move the threaded fastener along the threaded hole axis into contact with the threaded hole; rotatively actuating the actuator in a counter-clockwise direction to align a thread end of the threaded fastener with a thread end of the threaded hole; measuring a highest vertical displacement of the threaded fastener along the threaded fastener axis as the threaded fastener is rotated in the counter-clockwise direction while in contact with the threaded hole; continuing to rotate the threaded fastener in the counter-clockwise direction until a next occurrence of the highest vertical displacement of the threaded fastener; and rotatively actuating, in response to the next occurrence of the highest vertical displacement of the threaded fastener, the actuator in a clockwise direction to drive the threaded fastener into the threaded hole.
 2. The method of claim 1 wherein the linearly actuating the actuator includes: linearly actuating the actuator to move the threaded fastener along the threaded hole axis into an approach position using a soft land procedure; linearly actuating the actuator to move the threaded fastener from the approach position into contact with the threaded hole using the soft land procedure.
 3. The method of claim 2, wherein the soft land procedure uses a position control mode.
 4. The method of claim 2, wherein the soft land procedure uses a torque control mode.
 5. The method of claim 2, wherein the soft land procedure uses a velocity control mode.
 6. The method of claim 2, wherein the soft land procedure uses a basic control mode.
 7. The method of claim 1, further comprising applying a reduced torque to the threaded fastener to snug the threaded fastener in the threaded hole.
 8. The method of claim 7, further comprising: applying a final torque to the threaded fastener to achieve a final torque specification for the threaded fastener in the threaded hole by rotatively actuating the actuator in the clockwise direction.
 9. The method of claim 7, further comprising: rotatively actuating the actuator in a counter-clockwise direction to loosen the threaded fastener prior to the applying the final torque.
 10. The method of claim 7 further including inserting an additional threaded fastener into an additional threaded hole by: coupling the additional threaded fastener to the tool; linearly actuating the actuator to cause the additional threaded fastener to move into contact with the additional threaded hole; rotatively actuating the actuator; applying a reduced torque to the additional threaded fastener to snug the additional threaded fastener in the additional threaded hole.
 11. The method of claim 10 further including: applying a final torque to the threaded fastener to achieve a final torque specification for the threaded fastener in the threaded hole.
 12. The method of claim 1, wherein the actuator is a linear rotary actuator.
 13. The method of claim 1, wherein the measuring the vertical displacement of the threaded fastener occurs after the threaded fastener has made one complete rotation of 360 degrees in the counter-clockwise direction. 